Zmotion XPCIE1028 User manual

Foreword
The motion controller provides rich interface, and it has excellent motion control performance, which
can meet the expansion requirements of various projects.
This manual is copyrighted by Shenzhen Technology Co., Ltd., without the written permission of the
Zmotion Technology, no person shall reproduce, translate and copy any content in this manual. The
above-mentioned actions will constitute an infringement of the copyright of the company's manual, and
Zmotion will investigate legal responsibility according to law.
For details about the ZMC controller software and the introduction and routine of each command,
please refer to the ZBASIC software manual.
Information contained in this manual is only for reference. Due to improvements in design and
functions and other aspects, Zmotion Technology reserves the final interpretation! Subject to change
without notice!
Pay attention to safety when debugging the machine!
Please be sure to design an effective safety protection device in the machine, and add an error
handling program in the software, otherwise Zmotion has no obligation or responsibility for the loss
caused.
In order to ensure the safe, normal and effective use of the product, please be sure to read this
product manual carefully before installing and using the product.

Safety Statement
⚫This chapter describes the safety precautions required for the correct use of this product. Before
using this product, please read the instructions for use and correctly understand the relevant
information on safety precautions.
⚫This product should be used in an environment that meets the design specifications, otherwise
it may cause equipment damage or personal injury, and malfunctions or component damage
caused by failure to comply with relevant regulations are not within the scope of product quality
assurance.
⚫Zmotion will not take any legal responsibility for personal safety accidents and property losses
caused by failure to comply with the contents of this manual or illegal operation of products.
Safety Level Definition
According to the level, it can be divided into " Danger " and " Caution ". Failure to operate as required
may result in moderate injury, minor injury or equipment damage.
Please keep this guide in a safe place for reading when needed, and be sure to hand this manual to
the end user.
Install
Danger
◆When the controller is disassembled, all external power supplies used by the
system should be disconnected before operation, otherwise it may cause
misoperation or damage to the equipment.
◆It is forbidden to use in the following places: places with dust, oil fume, conductive
dust, corrosive gas and flammable gas; places exposed to high temperature,
condensation, wind and rain; places with vibration and shock. Electric shock, fire
and misuse can cause product damage and deterioration.
Notice
◆Avoid metal shavings and wire ends falling into the hardware circuit board during
installation.
◆After installation, ensure that there are no foreign objects on the hardware circuit
board.
◆When installing, make it tightly and firmly with the mounting frame.

◆Improper installation of the controller may result in misoperation, failure and fire.
Wiring
Danger
◆The specifications and installation methods of the external wiring of the
equipment shall comply with the requirements of local power distribution
regulations.
◆When wiring, all external power supplies used by the system should be
disconnected before operation.
◆When powering on and running after the wiring work is completed, the terminals
attached to the product must be installed.
◆Cable terminals should be well insulated to ensure that the insulation distance
between cables will not be reduced after the cables are installed on the terminal
block.
Notice
◆Avoid metal shavings and wire ends falling into the hardware circuit board during
installation.
◆The cable connection should be carried out correctly on the basis of confirming
the type of the connected interface.
◆It should be confirmed that the cables pressed into the terminals are in good
contact.
◆Do not bundle the control wires and communication cables with the main circuit
or power supply wires, etc., and the distance between the wires should be more
than 100 mm, otherwise noise may cause malfunction.
◆If the controller is not installed properly, it may cause electric shock or equipment
failure or malfunction.

XPCIE1028 Motion Control Card User Manual V1.0
Content
Chapter I Production Information........................................................................................3
1.1. Product Information ..........................................................................................3
1.2. Function Features..............................................................................................3
1.3. System Frame ...................................................................................................4
1.4. Hardware Installment........................................................................................5
Chapter II Product Specification .........................................................................................7
2.1. Basic Specification............................................................................................7
2.2. Order Information..............................................................................................7
2.3. Interface Definition............................................................................................8
2.4. Work Environment .............................................................................................9
Chapter III Wiring, Communication Configuration ............................................................10
3.1. IO Power Interface...........................................................................................10
3.2. IO Signal Interface...........................................................................................10
3.2.1. Terminal Definition ...............................................................................11
3.3. P706 Signal Interface......................................................................................12
3.3.1. Local Axis Terminal Definition .............................................................12
3.4. X300 Signal Interface......................................................................................13
3.4.1. ACC37 Wiring Board .............................................................................13
3.4.2. Wiring Board Terminal Definition .........................................................14
3.5. IN: Digital Input................................................................................................15
3.5.1. Digital Input Specification & Wiring .....................................................16
3.5.2. Basic Usage Method ............................................................................17
3.6. OUT: Digital Output..........................................................................................17
3.6.1. Digital Output Specification & Wiring...................................................17
3.6.2. Basic Usage Method ............................................................................19
3.7. Pulse Axis Specification & Wiring ...................................................................20
3.7.1. Single-ended Axis Interface Specification & Wiring ............................20
3.7.2. Local Axis Interface Specification & Wiring .........................................21
3.7.3. Basic Usage Method ............................................................................24
3.8. DIP Switch .......................................................................................................26
3.8.1. DIP Switch ............................................................................................26
Chapter IV Accessories .....................................................................................................27
4.1. Optional Accessories ......................................................................................27
Chapter V Installation........................................................................................................29
5.1. XPCIE1028 Installation....................................................................................29
5.2. Drive Program Installation ..............................................................................29
5.3. Ordinary Network Card Install EtherCAT Bus Protocol ...................................35
Chapter VI Program & Applications...................................................................................40

XPCIE1028 Motion Control Card User Manual V1.0
6.1. ZDevelop Software Usage...............................................................................40
6.2. PC Upper-Computer Program Application .....................................................45
Chapter VII Run and Maintain ...........................................................................................48
7.1. Regular Inspection and Maintenance .............................................................48
7.2. Common Problems..........................................................................................49

XPCIE1028 Motion Control Card User Manual V1.0
Chapter I Production Information
1.1. Product Information
XPCIE1028 motion control card is a kind of new type XPCIE bus control card. It can
control multiple step motors or digital servo motors.
XPCIE1028 motion control card has many functions, such as, multi-axis point to
point motion, interpolation, trajectory planning, handwheel control, encoder position
detection, IO control, position latch, etc.
XPCIE1028 motion control card adaptation hardware custom configuration requires
CPU benchmark i5-4 generation 4 cores or above, main frequency not lower than 2GHZ,
running memory above 8G and hard disk above 256M.
XPCIE1028 motion control cards need to be used with MotionRT7.
1.2. Function Features
◆Support 4 axes motion control (standard).
◆Pulse output mode: pulse / direction
◆Support encoder position measurement, which can be configured as handwheel
input mode.
◆Maximum pulse output frequency of pulse axis is 10MHZ.
◆Support 8 high-speed inputs and 4 latch inputs, support 16 high-speed outputs and
4 PWM outputs.
◆The maximum output current of general digital outputs can reach 300mA, which can
directly drive some kinds of solenoid valves.
◆Support linear interpolation, arbitrary circular interpolation, helical interpolation and

XPCIE1028 Motion Control Card User Manual V1.0
continuous interpolation.
◆Support electronic cam, electronic gear, position latch, synchronous follow, virtual
axis and other functions.
◆Support pulse closed loop, pitch compensation and other functions.
◆Support multi-file and multi-task programming in ZBasic.
◆A variety of program encryption methods to protect the intellectual property rights of
customers.
1.3. System Frame

XPCIE1028 Motion Control Card User Manual V1.0
1.4. Hardware Installment
Size: 120*106mm
The card slot interface is designed according to the standard card of PCIE*1, and it
is compatible with from PCIE*1 to PCIE*6.
PCI doesn’t support plug in or pull out when in hot, so please close the computer
before inserting and pulling the card.
Please handle it carefully. Before touching the control card circuit or
inserting/pulling the control card, please wear anti-static gloves or touch an
effectively grounded metal object to discharge the human body to prevent
possible static electricity from damaging the motion control card.

XPCIE1028 Motion Control Card User Manual V1.0
Installation
attention
⚫Non-professionals are strictly prohibited to operate. Specifically,
professionals who had been trained related electrical equipment,
or who master electrical knowledge.
⚫Please be sure to read the product instruction manual and safety
precautions carefully before installation.
⚫Before installation, please ensure that the product is powered off.
⚫Do not disassemble the module, otherwise the machine may be
damaged.
⚫Avoid direct sunlight installation.
⚫In order to facilitate ventilation and controller replacement, 2-3cm
should be left between the upper and lower parts of the controller
and the installation environment and surrounding components.
⚫Considering the convenient operation and maintenance of the
controller, please do not install the controller in the following
places:
a) places where the surrounding ambient temperature exceeds
the range of -20°C-60°C
b) places where the ambient humidity exceeds the range of 10%-
95% (non-condensing)
c) places with corrosive gases and flammable gases
d) places with many conductive powders such as dust and iron
powder, oil mist, salt, and organic solvents

XPCIE1028 Motion Control Card User Manual V1.0
Chapter II Product Specification
2.1. Basic Specification
Item
Description
Model
XPCIE1028
Basic Axes
4 axes (standard), use License to configure according to
requirements.
Type of Basic Axes
Local pulse axes
Digital IO
There are 30 inputs and 30 outputs (with overcurrent
protection), and 8 are high-speed inputs, 16 are high-
speed outputs.
Highest Pulse Frequency
10MHz
Power Supply Input
24V DC input
Dimensions
120*106mm
2.2. Order Information
Interface
Optional Functions
Definition Description
License
Parameter
Frame
R1: suit to general robots
Robot
R6: suit to 6-joint robots and special structure
robots.
NcGcode
NC: suit to NCG code function.
HW
HW: suit to HW hardware comparison output
function, 16 channels can be selected at most.
ZVision
ZV: suit to vision instruction and function.
Motor
Select according to actual axes, the value set of
axis needs to be larger than the number of axes
used.

XPCIE1028 Motion Control Card User Manual V1.0
AX4: 4 axes can be used at most.
AX6: 6 axes can be used at most.
AX8: 8 axes can be used at most.
AX16: 16 axes can be used at most.
AX24: 24 axes can be used at most.
AX32: 32 axes can be used at most.
AX64: 64 axes can be used at most.
Motion
Valid motion control functions:
MOO: point to point
MO2: point to point, electronic cam, linear
interpolation.
MO8: point to point, electronic cam, linear
interpolation, circular interpolation, continuous
interpolation.
2.3. Interface Definition

XPCIE1028 Motion Control Card User Manual V1.0
→Interface Description
Mark
Interface
Number
Description
POW
The led that indicates the
current state.
1
Power state: it lights when power is
conducted.
RUN
1
Run state: it lights when runs normally
ALM
1
Error state: it lights when runs incorrectly
P700
IO Signal Interface
1
OUT signal with multi-function, power input,
pulse signal output.
P701
IO Signal Interface
1
IN signal with multi-function, power input,
encoder signal output.
P706
Local axis interface
1
Include differential pulse output, encoder
feedback and IO signal.
X300
Signal Interface
1
IO control signals. For more IO, it is used
together with ACC37 adapter board.
2.4. Work Environment
Item
Parameters
Work Temperature
-20℃-60℃
Work relative Humidity
5%-95% non-condensing
Storage Temperature
-40℃～70℃(not frozen)
Storage Humidity
Below 90%RH (no frost)
Vibration
Below 4.9m/s^2
Shock
Below 19.6m/s^2
Degree of Protection
IP20

XPCIE1028 Motion Control Card User Manual V1.0
Chapter III Wiring, Communication
Configuration
3.1. IO Power Interface
Power input of IO signal terminal uses DC24V power supply, it is connected through PIN1
(E24V) and PIN2 (EGND).
If ACC37-7103 wiring board is used, which also needs to be supplied by DC24V power,
and it is connected through PIN66 (EGND) and PIN67 (E24V) of the 5.08mm screw-type
wiring terminal.
→Specification:
Item
Description
Voltage
DC24V(-10%~10%)
The current to open
≤0.5A
The current to work
≤0.4A
Anti-reverse connection
Valid
Overcurrent Protection
Valid
3.2. IO Signal Interface
P700 and P701 are main interfaces for motion control and IO signal control of XPCIE1028.
Below shows P700 and P701 signal terminal:

XPCIE1028 Motion Control Card User Manual V1.0
3.2.1. Terminal Definition
→Terminal Definition
Pin
Name
Description
Pin
Name
Description
1
E24V
External power 24V input
19
E5V
5V power output
2
EGND
External power ground
20
EGND
External power ground
3
OUT0
High-speed output 0, PWM 0
21
IN0
High-speed input 0, latch R0
4
OUT1
High-speed output 1, PWM 1
22
IN1
High-speed input 1, latch R1
5
OUT2
High-speed output 2, PWM 2
23
IN2
High-speed input 2, latch R2
6
OUT3
High-speed output 3, PWM 3
24
IN3
High-speed input 3, latch R3
7
OUT4
High-speed output 4
25
IN4
High-speed in 4, encoder EA1
8
OUT5
High-speed output 5
26
IN5
High-speed in 5, encoder EB1
9
OUT6
High-speed output 6
27
IN6
High-speed in 6, encoder EZ1
10
OUT7
High-speed output 7
28
IN7
High-speed output 7
11
OUT8
High-speed output 8
29
IN8
Input 8
12
OUT9
High-speed output 9
30
IN9
Input 9
13
OUT10
High-speed output 10,
single-ended DIR3
31
IN10
Input 10
14
OUT11
High-speed output 11,
single-ended PUL3
32
IN11
Input 11
15
OUT12
High-speed output 12,
single-ended DIR2
16
OUT13
High-speed output 13,
single-ended PUL2
17
OUT14
High-speed output 14,
single-ended DIR1
18
OUT15
High-speed output 15,
single-ended PUL1

XPCIE1028 Motion Control Card User Manual V1.0
Note:
⚫Pay attention to the positive and negative poles of the IO power supply of XPCIE1028 to avoid
burning the IO port.
⚫The maximum load of 5V power output is 300mA, don’t connect to the load with large power to
avoid damage.
⚫The maximum output current of XPCIE1028 is 300mA, which can be directly connected to most
of loads. Please calculate the current.
⚫The IO port of XPCIE1028 is an isolated IO port, please input the power supply of the IO port
from EGND and E24V.
3.3. P706 Signal Interface
P706 is the main interface controlled by the motor. It supports 1 differential pulse outputs,
and there is one differential encoder feedback.
3.3.1. Local Axis Terminal Definition
→Terminal Definition
Pin
Name
Description
Pin
Name
Description
1
EZ0+
Encoder input
11
VCC5
Internal power output
2
EZ0-
Encoder input
12
DIR0+
Servo direction output
3
EB0+
Encoder input
13
DIR0-
Servo direction output
4
EB0-
Encoder input
14
GND
Internal ground
5
EA0+
Encoder input
15
PUL0-
Servo pulse output

XPCIE1028 Motion Control Card User Manual V1.0
6
EA0-
Encoder input
16
PUL0+
Servo pulse output
7
GND
Internal ground
17
GND
Internal ground
8
ALM_0/IN28
Drive alarm
18
CLR_0/OUT33
Alarm clear
9
INP_0/IN29
On-position signal
19
ENA_0/OUT32
Drive enable
10
EGND
External power ground
20
E24V
+24V output
Note:
⚫When ALM_0, INP_0, CLR_0 and ENA_0 are not used, they can be used as general IO without
overcurrent protection.
⚫The maximum output current of XPCIE1028 is 300mA, which can be directly connected to most
of loads. Please calculate the current.
⚫The IO port of XPCIE1028 is an isolated IO port, please input the power supply of the IO port
from EGND and E24V.
3.4. X300 Signal Interface
X300 interface is IO signal control interface, using ACC37-7103 adapter board to connect
to external equipment, this adapter board is optional for more IOs. And it needs to be
supplied by DC24V.
→Interface Appearance
3.4.1. ACC37 Wiring Board
ACC37 is the wiring board of X301 signal, using adapter board and DB37 to connect X301.

XPCIE1028 Motion Control Card User Manual V1.0
Size: 119.2*86.2mm
3.4.2. Wiring Board Terminal Definition
Pin
Name
I/O
Function
1
IN12
I
Non-isolated general input signal 12
2
IN13
I
Non-isolated general input signal 13
3
IN14
I
Non-isolated general input signal 14
4
IN15
I
Non-isolated general input signal 15
5
IN16
I
Non-isolated general input signal 16
6
IN17
I
Non-isolated general input signal 17
7
IN18
I
Non-isolated general input signal 18
8
IN19
I
Non-isolated general input signal 19
9
IN20
I
Non-isolated general input signal 20
10
IN21
I
Non-isolated general input signal 21
11
IN22
I
Non-isolated general input signal 22
12
IN23
I
Non-isolated general input signal 23
13
IN24
I
Non-isolated general input signal 24
14
IN25
I
Non-isolated general input signal 25

XPCIE1028 Motion Control Card User Manual V1.0
15
IN26
I
Non-isolated general input signal 26
16
IN27
I
Non-isolated general input signal 27
17
EGND
-
Public end
18
EGND
-
Public end
Pin
Name
IO
Function
19
OUT16
O
Non-isolated general output signal 16
20
OUT17
O
Non-isolated general output signal 17
21
OUT18
O
Non-isolated general output signal 18
22
OUT19
O
Non-isolated general output signal 19
23
OUT20
O
Non-isolated general output signal 20
24
OUT21
O
Non-isolated general output signal 21
25
OUT22
O
Non-isolated general output signal 22
26
OUT23
O
Non-isolated general output signal 23
27
OUT24
O
Non-isolated general output signal 24
28
OUT25
O
Non-isolated general output signal 25
29
OUT26
O
Non-isolated general output signal 26
30
OUT27
O
Non-isolated general output signal 27
31
OUT28
O
Non-isolated general output signal 28
32
OUT29
O
Non-isolated general output signal 29
33
OUT30
O
Non-isolated general output signal 30
34
OUT31
O
Non-isolated general output signal 31
35
EGND
-
Public end
36
EGND
-
Public end
37
EGND
-
Public end
38
E24V
-
Power input
3.5.IN: Digital Input
Digital inputs are distributed in X300 and P701 signal interfaces.

XPCIE1028 Motion Control Card User Manual V1.0
3.5.1. Digital Input Specification & Wiring
→Specification
Item
High-speed input (IN0-IN7)
Low-speed input (IN8-IN27)
Input method
NPN Leakage type
NPN Leakage type
Voltage level
DC24V(-10%~+10%)
DC24V(-10%~+10%)
Current
6.8mA
4.8mA
Voltage to open
<15V
<14.5V
Min current
2.3mA
1.8mA
Impedance
3.3Ω
4.7Ω
Isolation
optoelectronic isolation
optoelectronic isolation
The times in the form are typical based on the resistive load, and may change when the load circuit
changes.
→Wiring Reference
1. General input:
XPCIE1028 motion control card provides users with isolated general input signals,
which can be used for input signals of switches, sensors or other devices.
→Wiring Note
⚫The wiring principle of high-speed digital input IN (0-7) and low-speed digital input
IN (8-23) is shown in the figure above. The external signal source can be an
optocoupler, a key switch or a sensor, etc., all can be connected as long as the
requirements on output of electric level can be achieved.